How to move robot by RSI

i am learning RSI 4.0 at kuka 8.5.

and i run a "ethernet"example of rsi package.

this is code of "ethernet" src:

&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF RSI_Ethernet( )
; =============================================
; 
; RSI EXAMPLE: ETHERNET communication
; Realtime UDP data exchange with server application
;
; =============================================

; Declaration of KRL variables
DECL INT ret    ; Return value for RSI commands
DECL INT CONTID    ; ContainerID

;FOLD INI
  ;FOLD BASISTECH INI
  BAS (#INITMOV,0 )
  ;ENDFOLD (BASISTECH INI)
  ;FOLD USER INI
    ;Make your modifications here
  ;ENDFOLD (USER INI)
;ENDFOLD (INI)

; Move to start position
PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0}

; Create RSI Context 
ret = RSI_CREATE("RSI_Ethernet",CONTID,TRUE)
IF (ret <> RSIOK) THEN
  HALT
ENDIF

; Start RSI execution
ret = RSI_ON(#RELATIVE)
IF (ret <> RSIOK) THEN
  HALT
ENDIF

; Sensor guided movement
RSI_MOVECORR()

; Turn off RSI 
ret = RSI_OFF()
IF (ret <> RSIOK) THEN
  HALT
ENDIF

PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0}

END

the result of this example is :when add or minus position value of TCP from PC server application,the robot moves a little(in 5mm and 5degree limit),so it cannot move too much.

But i want robot move without this limit,for example i give robot a Angle or Line or PTP command,the robot TCP can go to to any postion in its reachable area.

How to code it ,have you any example (src and server app)?

Thank you!

Quote from SkyeFire

That's not how RSI works. RSI is for realtime control. As such, you do not send it a destination. Instead, every 12ms (or 4ms for IPO-Fast mode), without fail, you must send the robot a corrective value. And the robot will attempt to apply this correction within 12 ms.

This means that, if you send the robot a 1deg correction for A1, the robot will attempt to move at 1/0.12=83.3deg/sec, even if the robot is in Teach Mode. This is physically impossible for the robot to achieve, but it will try. And this will be very dangerous for anyone nearby. It will also probably generate faults.

Moving the robot with RSI requires building a PID algorithm inside the RSI application, and sending the robot very small corrections. Those corrections are cyclically sampled and applied every IPO cycle, and need to be processed through a well-tuned PID in order to avoid acceleration faults, overshoots, hunting behavior, and other pitfalls. And those corrective inputs must scale down to 0 smoothly as the robot approaches the desired location.

thank you SkyeFire,in "ethernet" example, the "target" of TCP is fixed(in this example is:PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0}),in this example, robot just only move around this"target" in 5mm and 5 degree limitation.so ,my question is ,how can people change this "target" in program a little (i know the pose should be changed a little every time). so in this way robot can do more work( play pingpang or pick some thing)

Quote from SkyeFire

Because using RSI can be so dangerous, of course the example programs are deliberately limited.

The limits are most likely set by a module in the RSI application, which you would have to edit using RSIVisual in WV.

ok ,thank you SkyeFire